Connect Hardware Wiring; Initiate Control - Delta CP2000 Series User Manual

Chapter 16 PLC Function Applications│CP2000
Delta's A2 Servo currently supports the CANopen communications interface, and the corresponding slave
station numbers and communications speed parameters are as follows:
Slave station
address
Communication
speed
Control/command
source
Step 6: Connect hardware wiring
When performing wiring, note the head and tail terminal resistance; connection methods are as
follows:
Terminal
Resistor
Step 7: Initiate control
After a program has been written and downloaded, switch the PLC mode to Run. Merely
turn power to master and slave stations off and then on again.
Refer to CANMasterTest 1 vs. 2 driver.dvp
Example :
CP2000 driver one-to-two control
Step 1: Activating CANopen Master functions
Parameter 09-45=1 (initiates Master functions); restart power after completing setting,

the status bar on the KPC-CC01 digital keypad will display "CAN Master".
Parameter 00-02=6 reset PLC (please note that this action will reset the program and

PLC registers to the default values)
Turn power off and on again.

Use the KPC-CC01 digital keypad to set the PLC control mode as "PLC Stop" (if the

KPC-CE01 digital keypad is used, set as "PLC 2"; if a newly-introduced driver is used,
the blank internal PLC program will cause a PLFF warning code to be issued).
Corresponding device
parameters
A2
03-00
03-01 bit 8-11 XRXX
01-01
16-132
Value
1~127 CANopen Communication address
R= 0 125K
R= 1 250K
R= 2 500K
R= 3 750K
R= 4 1M
B
Definition
Terminal
Resistor